jacobiantest.hpp

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#ifndef JACOBIAN_TEST_HPP
#define JACOBIAN_TEST_HPP
 
#include <cppunit/extensions/HelperMacros.h>
#include <jacobian.hpp>
 
using namespace KDL;
 
class JacobianTest : public CppUnit::TestFixture
{
    CPPUNIT_TEST_SUITE( JacobianTest);
    CPPUNIT_TEST(TestChangeRefPoint);
    CPPUNIT_TEST(TestChangeRefFrame);
    CPPUNIT_TEST(TestChangeBase);
    CPPUNIT_TEST(TestConstructor);
    CPPUNIT_TEST(TestEqual);
    CPPUNIT_TEST_SUITE_END();
 
public:
    void setUp();
    void tearDown();
 
    void TestChangeRefPoint();
    void TestChangeRefFrame();
    void TestChangeBase();
    void TestConstructor();
    void TestEqual();
};
 
#endif